JP7261721B2 - Construction support system and work machine - Google Patents

Description

The present invention relates to construction support systems and work machines.

Workers who work around work machines such as construction machines and mobile cranes should consider the positional relationship with the work machines and keep a distance from them as necessary to avoid being caught by the work machines. Reduces the risk of being caught or caught. On the other hand, there are cases in which a worker needs to approach a work machine for the purpose of assisting work with the work machine.

As a technology related to such worker risk reduction, for example, Patent Document 1 discloses that an intrusion prohibited area is set in advance around a work vehicle, and the position of an intruder such as a worker who has entered the work area is detected. and a stop control method for a work vehicle in an intrusion-prohibited area in which the work vehicle is stopped when the intruder enters the set intrusion-prohibited area. Accordingly, a stop control method for a work vehicle in an entry-prohibited area is disclosed in which the entry-prohibited area is changeable.

Japanese Patent Application Laid-Open No. 2003-105807

In the prior art described above, it is possible to change the intrusion prohibited area to be applied according to the work content predetermined for the worker. In addition to stopping the work machine by setting a sufficiently wide no-entry area to reduce the risk of workers, it is necessary when a worker who approaches the work machine for the purpose of assisting the work machine approaches the work machine. The no-entry zone is set to a minimum to prevent a decrease in work efficiency due to frequent stoppages of the work machine.

However, for example, it is quite conceivable that a worker to whom a minimum necessary no-entry area is set for the purpose of assisting a work machine performs work in which a relatively wide no-entry area is set. In this case, there will be a discrepancy between the content of the work and the no-entry area. In other words, if the worker does not notice the approach of the work machine during work, it is conceivable that the stop control of the work machine does not work even if the worker approaches the work machine in an unintended state.

The present invention has been made in view of the above, and is capable of performing construction support according to the intention of the worker, and further improving the safety of the worker while suppressing a decrease in work efficiency. The purpose is to provide systems and working machines.

The present application includes a plurality of means for solving the above problems. To give one example, the positional relationship between the worker and the working machine , and the movable area set around the working machine and reachable by the working machine and a notification area set outside the movable area, and a controller that performs construction support processing to support construction of the work machine based on the worker who acquires the position information of the worker . a position information acquisition device; an approach intention detection device that detects a worker 's intention to approach the work machine; an approach intention presentation device that presents a detection result of the approach intention detection device to an operator of the work machine; an approach confirmation acquisition device that acquires a confirmation state by an operator of the work machine of the content presented by the approach intention presentation device, wherein the controller , when it is determined that a worker is present in the notification area, to whether or not there is an intention to work around the work machine, and if it is determined that there is a worker in the movable area, the confirmation state acquired by the approach confirmation acquisition device is When the operator of the work machine refuses the approach of the worker , or when the operator of the said work machine does not confirm the worker 's intention to approach, the safety operation shall be performed .

ADVANTAGE OF THE INVENTION According to this invention, the construction support according to a worker's intention can be performed, and a worker's safety can be improved further, suppressing decline in work efficiency.

It is a figure which shows typically the appearance of the work site to which a construction support system is applied. It is a functional block diagram showing roughly the whole construction support system composition concerning a 1st embodiment. FIG. 4 is a diagram showing an example of setting a work area set around a hydraulic excavator; It is a figure which shows the mode of operation|movement of a worker terminal. It is a figure which shows the mode of operation|movement of a worker terminal. It is a figure which shows the mode of operation|movement of a worker terminal. It is a figure which shows the mode of operation|movement of a worker terminal. It is a figure which shows the mode of operation|movement of an input-output device. It is a flow chart which shows the contents of processing of a worker terminal. FIG. 7 is a flow chart showing processing contents of communication processing in the flow chart of FIG. 6 ; FIG. 4 is a flow chart showing the processing contents of the state management device of the controller; 4 is a flow chart showing processing contents of a safe operation execution device of a controller; 4 is a flow chart showing processing contents of an input/output device; It is a functional block diagram showing roughly the whole construction support system composition concerning a 2nd embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In the present embodiment, a hydraulic excavator equipped with a front device (working machine) will be described as an example of a working machine. can be applied.

<First Embodiment>
A first embodiment of the present invention will be described with reference to FIGS. 1 to 10. FIG.

FIG. 1 is a diagram schematically showing a work site to which a construction support system according to this embodiment is applied.

FIG. 1 illustrates a case where a hydraulic excavator 1, which is an example of a working machine, and a worker 3 work at a work site.

In FIG. 1, a hydraulic excavator 1 includes a lower traveling body 1C, an upper revolving body 1B provided so as to be able to swivel with respect to the lower traveling body 1C, and a working tool such as a bucket provided on the upper revolving body 1B. and an articulated work device 1A. A controller 11 that controls the overall operation of the hydraulic excavator 1 is arranged on the upper revolving body 1B.

Further, the upper revolving body 1B is provided with an operator's cab 20 in which an operator 2 who operates the hydraulic excavator 1 rides. An input/output device 12 is arranged inside the operator's cab 20 to output various information to the operator 2 and to allow the operator 2 to input various settings and information. The input/output device 12 may be configured by, for example, a touch panel monitor or the like, or may be an input device and an output device separated from each other. The controller 11 and the input/output device 12 are connected to a communication function (communication device 55 ) such as a wireless LAN, and can communicate with the inside and outside of the hydraulic excavator 1 .

The worker 3 is a worker who may work around the hydraulic excavator 1, and carries and wears a worker terminal 4. FIG. The operator terminal 4 is, for example, a wristwatch-type wearable device, and has a touch panel monitor, a satellite positioning function such as GPS, a communication function such as wireless LAN (communication device 54), and a vibration function that transmits information to the wearer by vibration. etc. Note that the worker terminal 4 does not have to be a wristwatch-type wearable device, and may be of another form such as a smart phone as long as it can be carried by the worker 3 and has equivalent functions.

FIG. 2 is a functional block diagram schematically showing the overall configuration of the construction support system according to this embodiment.

2, the construction support system includes a worker position information acquisition device 50 provided in the worker terminal 4 of the worker 3, a worker identification information acquisition device 51, an approach intention detection device 52, an approach confirmation presentation device 53, and , a communication device 54, a communication device 55 provided in the hydraulic excavator 1, a state management device 56, a safe operation execution device 57, an approach intention presentation device 58, and an approach confirmation acquisition device 59. The state management device 56 and the safe operation execution device 57 are realized by the controller 11 mounted on the hydraulic excavator 1 , and the approach intention presentation device 58 and the approach confirmation acquisition device 59 are realized by the input/output device 12 .

The worker position information acquisition device 50 is realized by a satellite positioning system such as GPS in the worker terminal 4 and substitutes the position of the worker 3 by measuring the position of the worker terminal 4 .

The worker identification information acquisition device 51 is implemented by the worker 3 inputting his own identification information to the worker terminal 4 . The identification information may be, for example, a number assigned in advance, or biometric information such as a fingerprint.

The approach intention detection device 52 is realized by a method such as the worker 3 pushing a button on the worker terminal 4 .

The approach confirmation presentation device 53 is realized by the worker terminal 4 presenting confirmation information of the operator 2 to the worker 3 by means of vibration, sound, display, or the like.

The communication devices 54 and 55 are realized by wireless communication such as wireless LAN. The information obtained by each of the worker position information acquisition device 50, the worker identification information acquisition device 51, and the approach intention detection device 52, and the information to be transmitted to the approach confirmation presentation device 53 are transmitted through communication provided in the worker terminal 4. It communicates with the state management device 56 via the device 54 and the communication device 55 provided in the hydraulic excavator 1 .

The state management device 56 associates the worker position information and the approach intention information acquired from the same worker terminal 4 using the worker identification information, and stores them as the worker state. In the worker status, in addition to worker position information, worker identification information, and worker approach intention information, approach confirmation information, which is the approach confirmation result of the operator 2, is also stored in association with the worker identification information. The state management device 56 sends the operator identification information and the operator's approach intention information to the approach intention presentation device 58 .

The approach intention presentation device 58 communicates the operator 3's approach intention to the operator 2 by means of sound, display, or the like. Based on the information presented by the approach intention presentation device 58, the operator 2 inputs to the approach confirmation acquisition device 59 whether the operator 3 has recognized the approach intention or refuses the approach. The approach confirmation acquisition device 59 has, for example, two buttons of "recognition" and "rejection", and is realized by having the operator 2 press either one. At this time, when the operator 2 presses the "recognition" button, the confirmation state is set to "approach recognition state", and when the operator 2 presses the "reject" button, the confirmation state is set to "not accessible state". The approach intention presentation device 58 and the approach confirmation acquisition device 59 are configured by the input/output device 12 that can perform input and output with one device like a touch panel monitor, but they do not necessarily have to be one device, and are separate devices. It does not matter if it is a device of

After acquiring the confirmation information of the operator 2, the approach confirmation acquisition device 59 sends this information to the state management device 56. The state management device 56 obtains the worker position information and the worker's approach intention based on the worker identification information as described above. It is stored in association with information.

The safe operation execution device 57 performs, for example, a process related to safe operation as the construction support process. In the construction support process, worker position information and confirmation information are read out from the state management device 56. If the confirmation information does not indicate an approach recognition state, approach work to the hydraulic excavator 1 is prohibited, and the worker position is the hydraulic excavator 1. is within a movable area A1 (described later), which is one of the work areas set around . Further, when the confirmation information indicates the approach recognition state, the approach work to the hydraulic excavator 1 is allowed, and safe operation is not performed even when the operator is within the movable area A1. In addition to decelerating or stopping the operation of the hydraulic excavator 1, the safety operation may be a warning by a sound or a warning light to urge the worker 3 to leave the movable area A1.

FIG. 3 is a diagram showing an example of setting of a work area set around the hydraulic excavator. FIG. 3 shows the positional relationship among the hydraulic excavator 1, workers 3 (workers 3a to 3c), and work areas. As shown in FIG. 2, around the excavator 1, a movable area A1, a notification area A2, and a non-notification area A3 are set as work areas.

The movable area A1 is a reachable range of the structure of the hydraulic excavator 1 . For example, if an operator (for example, an operator 3a) is present within the movable area A1, there is a risk that the operator 3a and the hydraulic excavator 1 will collide, be caught, or be entangled. Therefore, in the present embodiment, when the operator 3 performs work (approaching work) within the movable area A1, communication between the operator 2 of the hydraulic excavator 1 and the worker 3 reduces risk. We are trying to reduce

The notification area A2 is set outside the movable area A1 when viewed from the hydraulic excavator 1 . For example, when there is a worker (for example, worker 3b) within the notification area A2, there is no risk of contact with the hydraulic excavator 1 because it is outside the movable area A1, but the worker can easily enter the movable area A1. That is, the notification area A2 is an area that may enter the movable area A1.

The non-notification area A3 is an area outside the notification area A2 when viewed from the hydraulic excavator 1 . A worker (for example, worker 3c) in the non-notification area A3 has no possibility of entering the movable area A1 immediately (that is, without passing through the notification area A2), and the imminent risk of contact with the excavator 1 is do not have.

Here, an overview of the construction support system according to the present embodiment will be described. The first object of the present embodiment is to assist in forming a state in which mutual understanding can be achieved between the operator 2 of the working machine (hydraulic excavator 1) and the workers 3 around him. A second object of the present invention is to ensure that the work machine and the worker terminal perform safe operations as necessary so as not to perform work around the work machine when there is no communication. In order to achieve the first and second purposes, the construction support system according to this embodiment prompts the operator 2 and the worker 3 to behave as follows.

First, when the worker 3 is outside the notification area A2 (for example, the position of the worker 3c), the construction support system does not perform the operation related to the present invention.

When the worker 3 enters the notification area A2 (for example, the position of the worker 3b), the worker terminal 4 notifies the worker 3 that it has entered the notification area A2 by means such as sound or vibration, and the worker terminal 4 is in a display and input waiting state for confirming the intention of approaching the hydraulic excavator 1 . The worker 3 confirms the worker terminal 4, and if the purpose is to approach the hydraulic excavator 1, the worker 3 operates the worker terminal 4 to input the intention of approaching. go out to

When the worker's 3 intention to approach is input, the worker's terminal 4 transmits the information to the hydraulic excavator 1 . In response to this, the hydraulic excavator 1 uses the input/output device 12 to inform the operator 2 of the intent of the worker 3 to approach, and waits for input as to whether the operator 2 has confirmed the worker 3's intent to approach. . When the operator 2 operates the input/output device 12 and inputs that he/she has confirmed the intention of the worker 3 to approach, the hydraulic excavator 1 further transmits the information to the worker terminal 4, and the worker terminal 4 The fact that the operator 2 has recognized the intention of approaching 3 is communicated to the operator 3 using vibration, display, or the like. This series of procedures is called communication processing.

The construction support system of the present embodiment basically executes safe operation when the worker 3 enters the movable area A1 of the hydraulic excavator 1 . The safe operation includes, for example, the hydraulic excavator 1 decelerating or stopping the operation, the hydraulic excavator 1 warning the worker with sound or light, and the worker terminal 4 warning the worker with sound or vibration. One of these safety actions may be used, or a combination thereof may be used. In this embodiment, the safe action is warning to the worker 3 by stopping the operation of the hydraulic excavator 1 and vibrating the worker terminal 4 . However, in a state where the communication process is executed and the operator 2 and the worker 3 confirm each other's intentions, the safety operation is not executed for the worker 3 . By doing so, if either one of them does not notice the other (the operator 2 does not notice the approach of the worker 3, the worker 3 does not notice the approach of the hydraulic excavator 1), Although the risk between the excavator 1 and the worker 3 is reduced by performing safe operations such as stopping the operation, the excavator 1 and the worker 3 cannot work together in a state where mutual intentions are confirmed (a state in which mutual understanding is achieved). Since the user is aware of the risk with the person 3, he/she can act with caution, and the risk is reduced even if the safe operation is not performed. Therefore, even if the operator 3 approaches the excavator 1, the operation of the excavator 1 does not stop, and the surrounding work can be performed with low risk.

4A to 4D are diagrams showing how the worker terminal operates. FIG. 5 is a diagram showing how the input/output device operates.

As shown in FIGS. 4A to 4D, the operator terminal 4 has a touch panel monitor 41. FIG.

When the approach intention detection device 52 determines that the position acquired by the worker position information acquisition device 50 is within the notification area A2, the approach intention detection device 52 determines on the touch panel type monitor 41 whether or not to perform surrounding work. An inquiry is displayed (see FIG. 4A). On the inquiry screen, two buttons (for example, "Yes" and "No" buttons) are placed to indicate whether or not the person is willing to do the surrounding work. The worker 3 is urged to push one of them. When the worker 3 presses the button indicating that there is an approaching intention, the approaching intention detection device 52 detects the approaching intention of the worker 3 .

When the operator 2 of the hydraulic excavator 1 confirms the approach, the approach confirmation presentation device 53 displays a screen indicating whether the operator 2 has recognized the approach (see FIGS. 4B and 4C).

In this embodiment, the safe operation execution device 57 is configured to be mounted inside the controller 11. However, if the safe operation execution device 57 is also installed inside the worker terminal 4, for example, the worker 3 is in an inaccessible state. When the worker 3 enters the movable area A1, it is also possible to display a warning to the worker 3 to get out of the movable area as a safe operation, or to warn the worker 3 by vibration (see FIG. 4D).

As shown in FIG. 5, on the screen of the input/output device 12, the identification information of the worker 3 and the intention of approaching are presented to the operator 2 by the approach intention presentation device 58, and the approach of the worker 3 is recognized. Two buttons, a button (for example, a “recognition” button) and a button for rejecting the approach (for example, a “reject” button) are arranged in the screen, and when either button is pressed, the operator 2 approaches Confirmation information is acquired by the approach confirmation acquisition device 59 . In addition, as shown in FIG. 5, the positional relationship between the operator 3 who transmitted the approach intention and the hydraulic excavator 1 and the positional relationship between the movable area A1 of the hydraulic excavator 1 and the operator 3 are displayed. Recognition of the worker 3 is accurately performed.

The operation of the construction support system according to the present embodiment configured as described above will be described in further detail.

6 to 10 are flowcharts showing the processing contents of the construction support system, FIG. 6 is a flowchart showing the processing contents of the worker terminal, FIG. 7 is a flowchart showing the processing contents of the communication processing of the flowchart of FIG. FIG. 8 is a flow chart showing the processing contents of the state management device of the controller, FIG. 9 is a flow chart showing the processing contents of the safe operation execution device of the controller, and FIG. 10 is a flow chart showing the processing contents of the input/output device.

First, the processing contents of the worker terminal 4 will be described.

In FIG. 6, the worker terminal 4 first sets the state of confirmation from the operator held by the worker terminal 4 to the inaccessible state (step S101). After that, the processing of steps S102 to S105 and the processing of steps S106 to S119 are executed in parallel.

The processing related to steps S102 to S105 is related to acquisition and transmission of worker position information. First, the GPS built in the worker terminal 4 detects the worker position information (step S102), records the information in the memory in the worker terminal 4 (step S103), stores it in the memory in the worker terminal 4 The stored worker identification information is read out (step S104), and the worker position information acquired in step S102 and the worker identification information acquired in step S104 are set and transmitted to the hydraulic excavator 1 by the communication device 54 (step S105). After that, the processing of steps S102 to S105 is repeated.

The processing related to steps S106 to S119 is related to the processing contents of the approach intention detection device 52 and the approach confirmation presentation device 53. FIG. First, the approach intention detection device 52 acquires the movable area A1 of the hydraulic excavator 1 (step S106), and calculates a notification area A2 that is outside the movable area A1 by a predetermined distance (step S107). Next, the previous worker position information is stored (step S108), and the latest worker position information recorded in step S103 is read out (step S109).

Subsequently, it is determined whether or not the position of the worker 3 indicated by the worker position information is outside the notification area A2 calculated in step S107 (that is, whether or not it is outside the notification area A3) (step S110). If the determination result is YES, that is, if the position of the worker 3 is outside the notification area A2 (non-notification area A3), the confirmation state from the operator 2 held by the worker terminal 4 is the approach recognition state. It is determined whether it is in an inaccessible state (step S111), and if the determination result is NO, that is, in an inaccessible state, the process returns to step S106.

Further, if the determination result in step S111 is YES, that is, if it is in the approach recognition state, the time during which the worker 3 is in the approach recognition state outside the notification area A2 (non-notification area A3) It is determined whether or not a predetermined time has elapsed (step S112). If the determination result is NO, the process returns to step S106. S113), and the process returns to step S106.

In this way, in the processing of steps S111 to S113, once the communication processing is executed within the notification area A2 and the approach recognition state is entered, when the approach recognition state is reached outside the notification area, within a certain period of time, the approach recognition The state is held so that even if the notification area A2 or the movable area A1 is entered again, the communication process does not need to be redone, thereby preventing the work efficiency from being lowered due to the frequent execution of the communication process. However, after a predetermined period of time has passed after leaving the notification area A2, the communication process must be performed again from the viewpoint of safety. It is desirable that the time for which this approach recognition state is maintained is set appropriately based on the skills and work content of the workers and operators on site. There is a high possibility that the risk is low.

Further, if the determination result in step S110 is NO, that is, if the position of the worker 3 is not outside the notification area A3, it is determined whether the position of the worker 3 is above the notification area A2 (step S115), if the determination result is YES, whether or not it is in an approachable state, and whether or not the previous worker position information acquired in step S108 is outside the notification area A2 (non-notification area A3). Determine (steps S115, S116).

If the determination results of both steps S115 and S116 are YES, the communication processing of the worker terminal is executed (step S117), and the processing returns to step S106. Further, when the determination result of at least one of steps S115 and S116 is NO, the process returns to step S106.

Further, if the determination result in step S114 is NO, that is, if the position of the worker 3 is on the movable area A1, it is determined whether or not the current confirmation state is the inaccessible state (step S118), If the determination result is NO, that is, if the vehicle is in the approach recognition state, the process returns to step S106. Also, if the determination result in step S118 is YES, the safety operation is executed (step S119), and the process returns to step S106.

Safe operation is, for example, by sound, vibration, display on the worker terminal 4 (see FIGS. 4A to 4D), etc., to quickly move the worker 3 from the movable area A1 to the outside (notification area A2 or non-notification area A3 side). It encourages you to As shown in the flowchart of FIG. 6, this safety operation is performed when the worker 3 enters the movable area A1 while the operator 2 confirms that the operator 2 is in an inaccessible state, that is, the worker 3 and the operator 2 cannot communicate with each other. This is executed when the hydraulic excavator 1 is intruded, and together with the safe operation on the side of the hydraulic excavator 1, it contributes to safety by reducing the risk of accidents.

In FIG. 7, the worker terminal 4, as a communication process (step S117 in FIG. 6), first asks the worker 3 about his/her intention to approach (step S201). Inquiry about the intention of approaching to the worker 3 is performed by displaying information for approach position detection on the worker terminal 4 (see FIG. 4A, etc.).

Subsequently, it is determined whether or not there is a response from the operator 3 by operating the button (step S202). It is determined whether or not a predetermined period of time has passed since the start (step S204). If the determination result in step S204 is NO, the process returns to step S202. If the determination result in step S204 is YES, the inaccessible state is maintained (step S214), and the process ends. This is a process for treating the worker 3 as having no intention to approach if there is no response from the worker 3 to the inquiry about the intention to approach for a certain period of time.

Further, if the determination result in step S202 is YES, that is, if there is a response from the worker 3, the content of the response is confirmed (step S203). It is determined whether or not it is a response (step S205). If the determination result in step S205 is NO, the inaccessible state is maintained (step S214), and the process ends.

If the determination result in step S205 is YES, that is, if the worker 3 intends to approach, the worker identification information recorded in the memory of the worker terminal 4 is read out (step S206), and the worker approaches. The intention and the operator identification information are transmitted as a set to the hydraulic excavator 1 (step S207).

After that, it is determined whether or not the confirmation information from the operator 2 has arrived at the worker terminal 4 (step S208). It is determined whether or not a predetermined time has passed (step S210). If the determination result in step S210 is NO, the process returns to step S208. If the determination result in step S210 is YES, the inaccessible state is maintained (step S214), and the process ends. In this case, if confirmation information from the operator 2 is not obtained within a predetermined time (including a communication error), it is assumed that the operator 2 has not acknowledged it, and the inaccessible state is set.

Also, if the determination result in step S208 is YES, that is, if the confirmation state from the operator 2 is received, the approach confirmation information is received (step S209), and the approach confirmation information is transmitted to the operator terminal 4. This is presented to the operator 3 (step S211). The approach confirmation information is presented to the worker 3 by presenting the approach confirmation information to the worker terminal 4 (see FIGS. 4B, 4C, etc.).

Subsequently, it is determined whether or not the confirmation state is approach recognition (step S212), and if the determination result is NO, that is, if the approach is denied, the inaccessible state is maintained (step S214), and the process is started. finish. Moreover, when the determination result in step S212 is YES, the confirmation state held in the worker terminal 4 is shifted to the approach recognition state (step S213), and the process is terminated.

Next, processing contents of the state management device 56 of the controller 11 will be described.

In FIG. 8, the state management device 56 executes in parallel the processes of steps S301 to S303, the processes of steps S304 to S307, and the processes of steps S308 to S311. These processes are started when the hydraulic excavator 1 is started (for example, when the engine is started).

The processes of steps S301 to S303 receive the worker position information and the worker identification information from the worker terminal 4 and store them in the memory in the controller 11. FIG. The state management device 56 first determines whether or not the worker position information and the worker identification information have been transmitted from the worker terminal 4 (step S301). Receive the worker position information and worker identification information transmitted from (step S302), store the worker position information and worker identification information as a set in the memory in the controller 11 (step S303), and process step S301 back to If the determination result in step S301 is NO, that is, if there is no information, the process of step S301 is repeated. As described above, in the processing related to steps S301 to S303, the processing of receiving the information transmitted from the operator terminal 4 and writing the latest information into the memory is repeated.

The processes of steps S304 to S307 are for receiving the worker intention information and the worker identification information and transmitting them to the input/output device 12. FIG. The state management device 56 first determines whether or not there is the worker approach intention information and the worker identification information transmitted from the worker terminal 4 (step S304). The approach intention information and the operator identification information are received (step S305), the operator position information and the operator approach intention information are linked based on the operator identification information, and the operator intention information is stored in the memory within the controller 11. Store (step S306), and transmit the linked worker position information, worker approach intention information, and worker identification information to the input/output device 12 (step S307), and return to the processing of step S304. If the determination result in step S304 is NO, that is, if there is no information, the process of step S304 is repeated.

The processing related to steps S308 to S311 is to transmit the approach confirmation information of the operator 2 obtained from the input/output device 12 to the worker terminal 4. FIG. The state management device 56 first determines whether or not the approach confirmation information and the worker identification information have been received from the input/output device 12 (step S308). The identification information is received (step S309), the approach confirmation information is associated with the worker identification information and stored in the memory in the controller 11 of the hydraulic excavator 1 (step S310), and the approach confirmation information is sent to the appropriate worker terminal 4. It transmits (step S311) and returns to the process of step S308. In addition, the appropriate worker terminal 4 is a worker terminal 4 that stores the worker terminal 4 from which the worker identification information is transmitted when there are a plurality of workers 3, and is associated with the approach confirmation information. The operator terminal 4 corresponding to the identification information is selected. Note that the controller 11 of the hydraulic excavator 1 may have a list or the like in which the operator terminal 4 and the operator identification information are associated in advance. If the determination result in step S308 is NO, that is, if the approach confirmation information has not arrived, the process of step S308 is repeated.

Next, the processing contents of the safe operation execution device 57 of the controller 11 will be described.

In FIG. 9, the safe operation execution device 57 first reads worker position information and approach confirmation information linked by worker identification information from the state management device 56 (step S401). At this time, if a plurality of pieces of worker information are stored in the state management device 56, all of them are read.

Subsequently, it is determined whether or not the worker position information is within the movable area A1 (step S402). If it is outside, the process returns to step S401.

Further, if the determination result in step S402 is YES, that is, if at least one of the worker position information read out in step S401 is within the movable area A1, the worker position is within the movable area A1. It is determined whether all the approach confirmation information linked to the identification information of the worker 3 is in a recognition state (step S403), and if the determination result is YES, that is, all the workers 3 within the movable area A1 are recognized In this state, all the workers 3 within the movable area A1 desire to work within the movable area A1, and the operator 2 of the hydraulic excavator 1 is also aware of it, so the risk is Assuming that it is low, the process returns to step S401.

Further, if the determination result in step S403 is YES, that is, at least one of the approach confirmation information linked to the identification information of the worker 3 whose worker position is within the movable area A1 is not in the recognition state (that is, the approach is not possible state), the safety operation is executed (step S404), and the process returns to step S401. Note that the safe operation means, for example, decelerating or stopping the operation of the actuator of the hydraulic excavator 1, or issuing a warning to the operator or surrounding workers with sound or light.

Next, the processing contents of the input/output device 12 will be described.

In FIG. 10, the input/output device 12 first determines whether or not there is worker approach intention information and worker identification information transmitted from the state management device 56 (step S501). In that case, the process of step S501 is repeated.

If the determination result in step S501 is YES, that is, if the operator's approach intention information and the operator identification information exist, the information is received (step S502), and the operator It is presented that the worker has an intention to approach (step S503). The worker's approach intention is presented on the output unit (monitor, etc.) of the input/output device 12, together with the worker's approach intention, because the operator 2 has recognized the worker's approach intention, or the operator wants to concentrate on the work. A button for asking the operator 2 whether to reject the approach of is displayed on the output unit, and the operator is prompted to respond (see FIG. 5, etc.).

Subsequently, it is determined whether or not the button displayed on the input/output device 12 has been pressed (step S504). It is determined whether or not a predetermined period of time has elapsed since the button was displayed (step S506).

If the determination result in step S506 is NO, that is, if the predetermined time has not passed since the button was displayed, the process returns to step S504. If the determination result in step S506 is YES, that is, if a certain period of time has elapsed since the button was displayed, access confirmation information is transmitted as access refusal (step S508), and the process returns to step S501. As in steps S506 and S508, when the operator does not express his/her intention for a certain period of time, it is judged to be on the safe side and the operator is prohibited from approaching.

Further, if the determination result in step S504 is YES, that is, if there is a response from the operator 2 (the operator 2 has operated the input/output device 12), the response result of the operator 2 is (step S505), and if the determination result is NO, that is, if the operator 2 selects the approach refusal, the process proceeds to step S508. If the determination result in step S505 is YES, that is, if the operator 2 recognizes the operator 3's intention to approach, the operator 2 transmits approach confirmation information to the state management device 56 as approach recognition (step S507). The process returns to step S501.

In the present embodiment configured as described above, it is possible to communicate with the operator 2 of the hydraulic excavator 1 with the operator 3 working around the hydraulic excavator 1. For example, from the viewpoint of productivity, it is possible to perform surrounding work, and if there is no communication, it is possible to make it difficult to perform surrounding work by executing safe actions from the viewpoint of safety. Therefore, it is possible to perform construction support according to the intention of the worker, and to further improve the safety of the worker while suppressing a decrease in work efficiency.

<Second Embodiment>
A second embodiment of the present invention will be described with reference to FIG.

This embodiment shows a case where each function of the worker terminal 4 in the first embodiment is provided in the hydraulic excavator 1 .

FIG. 11 is a functional block diagram schematically showing the overall configuration of the construction support system according to this embodiment. In the figure, the same reference numerals are assigned to the same processing as in the first embodiment, and the description thereof is omitted.

11, the construction support system includes a worker position information acquisition device 50, a worker identification information acquisition device 51, an approach intention detection device 52, an approach confirmation presentation device 53, a state management device 56, a safety It is composed of an action execution device 57 , an approach intention presentation device 58 , and an approach confirmation acquisition device 59 . The state management device 56 and the safe operation execution device 57 are implemented by the controller 11 mounted on the hydraulic excavator 1 .

The worker position information acquisition device 50 is an implementation device that can acquire the relative position of the worker 3 with respect to the hydraulic excavator 1 using a camera, a laser sensor, or the like mounted on the hydraulic excavator 1 .

The worker identification information acquisition device 51 is a camera or the like mounted on the hydraulic excavator 1, and is realized by reading and identifying information such as the face and markers of the worker 3. FIG. Note that the use of markers can be realized, for example, by attaching different items to the helmet or clothes worn by the worker 3 in advance for each worker.

The approach intention detection device 52 realizes the detection of the approach intention of the worker 3 by, for example, acquiring a gesture such as a motion of waving the arm of the worker 3 with a sensor such as a camera mounted on the hydraulic excavator 1 . By setting an easy-to-understand gesture as an approach intention in advance and recognizing whether or not the operator has performed such a gesture, the approach intention of the worker 3 can be detected.

The approach confirmation presentation device 53 is realized by mounting a monitor and a speaker for surrounding workers on the hydraulic excavator 1 . By light or sound, the worker 3 can be informed whether the operator 2 has recognized the approach or rejected the approach.

Other configurations are the same as those of the first embodiment.

The same effects as those of the first embodiment can be obtained in the present embodiment configured as described above.

Next, features of each of the above embodiments will be described.

(1) In the above embodiment, the positional relationship between the worker 3 and the work machine (for example, the hydraulic excavator 1) , the movable area set around the work machine and reachable by the work machine, and the movable area and a controller 11 that performs construction support processing for supporting construction of the work machine based on a notification area set outside the worker position information acquisition for acquiring worker position information a device 50 , an approach intention detection device 52 that detects the worker's intention to approach the work machine, an approach intention presentation device 58 that presents the detection result of the approach intention detection device to the operator 2 of the work machine, an approach confirmation acquiring device 59 for acquiring a confirmation state by the operator of the work machine of the presentation content of the approach intention presentation device, and the controller , when it is determined that the worker is present in the notification area, Inquiring whether or not the worker is willing to work around the working machine, and when it is determined that the worker is in the movable area, the confirmation state acquired by the approach confirmation acquisition device is confirmed. When the operator of the working machine refuses the worker 's approach , or when the operator of the working machine does not confirm the worker 's intention to approach, the safety operation is executed .

As a result, it is possible to perform construction support according to the intention of the worker, and to further improve the safety of the worker while suppressing a decrease in work efficiency.

(2) In the above embodiment, the construction support system of (1) further includes a worker terminal 4 carried by the worker 3, and the worker terminal includes the worker position information acquisition device 50 and A terminal (for example, the worker terminal 4) having the approach intention detection device 52 is provided.

(3) In the above embodiment, in the construction support system of (1) or (2), the construction support process slows down or stops the operating speed of the work machine (eg, the hydraulic excavator 1). and

(4) In the above-described embodiment, in the construction support system of (1) or (2), the construction support process instructs the worker 3 to use sound, light, or vibration to control the work machine (for example, The approach warning to the hydraulic excavator 1) was to be issued.

(5) In the above embodiment, the positional relationship between the worker 3 and the working machine (for example, the hydraulic excavator 1) , the movable area set around the working machine and reachable by the working machine, and the movable area A worker position information acquisition device for acquiring position information of a worker in a work machine equipped with a notification area set outside of and a controller 11 that performs construction support processing for supporting construction of the work machine based on 50 , an approach intention detection device 52 that detects the worker's intention to approach the work machine, an approach intention presentation device 58 that presents the detection result of the approach intention detection device to the operator 2 of the work machine, and an approach confirmation acquiring device 59 for acquiring a confirmation state by the operator of the work machine of the content presented by the approach intention presentation device, and the controller , when it is determined that the worker is present in the notification area, the circumference of the said work machine to the person
When it is determined that there is a worker in the movable area, the confirmation state acquired by the approach confirmation acquisition device is determined by the operator of the work machine. , or when the operator of the working machine does not confirm the operator 's intention to approach, the safety operation shall be executed .

(6) In the above embodiment, in the working machine (for example, the hydraulic excavator 1) of (5), the construction support processing slows down or stops the operating speed of the working machine.

(7) In the above embodiment, in the working machine (for example, the hydraulic excavator 1) of (5), the construction support process instructs the worker 3 to approach the working machine by sound or light. A warning was issued.

<Appendix>
It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the invention. Moreover, the present invention is not limited to those having all the configurations described in the above embodiments, and includes those having some of the configurations omitted. Further, each of the above configurations, functions, etc. may be realized by designing a part or all of them, for example, with an integrated circuit. Moreover, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.

DESCRIPTION OF SYMBOLS 1... Hydraulic excavator, 1A... Working apparatus, 1B... Upper revolving body, 1C... Lower traveling body, 2... Operator, 3, 3a-3c... Worker, 4... Operator terminal, 11... Controller, 12... Input/output device , 20... Driver's cab, 41... Monitor, 50... Worker position information acquisition device, 51... Worker identification information acquisition device, 52... Approach intention detection device, 53... Approach confirmation presentation device, 54, 55... Communication device, 56 State management device 57 Safe operation execution device 58 Approach intention presentation device 59 Approach confirmation acquisition device A1 Movable area A2 Notification area A3 Non-notification area

Claims (7)

Based on the positional relationship between the worker and the work machine, a movable area set around the work machine and reachable by the work machine, and a notification area set outside the movable area. In a construction support system equipped with a controller that performs construction support processing to support construction,
a worker position information acquisition device for acquiring position information of a worker ;
an approach intention detection device that detects an intention of the worker to approach the work machine;
an approach intention presentation device that presents a detection result of the approach intention detection device to an operator of the work machine;
an approach confirmation acquisition device that acquires a confirmation state by an operator of the work machine of the content presented by the approach intention presentation device;
The controller is
when it is determined that a worker is present in the notification area, inquiring of the worker whether or not he or she intends to work around the working machine;
When it is determined that a worker is present in the movable area, the confirmation state acquired by the approach confirmation acquisition device is that the operator of the work machine refuses to approach the worker , or the operator of the work machine A construction support system characterized by executing a safe operation when a worker 's intention to approach is not confirmed. In the construction support system according to claim 1,
further comprising a worker terminal carried by the worker ,
The construction support system, wherein the worker terminal includes the worker position information acquisition device and the approach intention detection device. In the construction support system according to claim 1 or 2,
The construction support system, wherein the construction support process slows down or stops the operating speed of the work machine. In the construction support system according to claim 1 or 2,
The construction support system , wherein the construction support process warns the worker of approaching the work machine by sound, light, or vibration. Based on the positional relationship between the worker and the work machine, a movable area set around the work machine and reachable by the work machine, and a notification area set outside the movable area. In a working machine equipped with a controller that performs construction support processing that supports construction,
a worker position information acquisition device for acquiring position information of a worker ;
an approach intention detection device that detects an intention of the worker to approach the work machine;
an approach intention presentation device that presents a detection result of the approach intention detection device to an operator of the work machine;
an approach confirmation acquisition device that acquires a confirmation state by an operator of the work machine of the content presented by the approach intention presentation device;
The controller is
When it is determined that there is a worker in the notification area, the worker is notified of the surroundings of the work machine.
Inquiring whether or not there is an intention to work in the surroundings,
When it is determined that a worker is present in the movable area, the confirmation state acquired by the approach confirmation acquisition device is that the operator of the work machine refuses to approach the worker , or the operator of the work machine A working machine characterized by carrying out a safe operation when a worker 's intention to approach is not confirmed. In the working machine according to claim 5,
A working machine, wherein the construction support process slows down or stops the operating speed of the working machine. In the working machine according to claim 5,
The working machine , wherein the construction support process warns the worker of approaching the working machine by sound or light.

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